A QUASI-PASSIVE LEG EXOSKELETON FOR LOAD-CARRYING AUGMENTATION
Top Cited Papers
- 1 September 2007
- journal article
- Published by World Scientific Pub Co Pte Ltd in International Journal of Humanoid Robotics
- Vol. 4 (3), 487-506
- https://doi.org/10.1142/s0219843607001126
Abstract
A quasi-passive leg exoskeleton is presented for load-carrying augmentation during walking. The exoskeleton has no actuators, only ankle and hip springs and a knee variable-damper. Without a payload, the exoskeleton weighs 11.7 kg and requires only 2 Watts of electrical power during loaded walking. For a 36 kg payload, we demonstrate that the quasi-passive exoskeleton transfers on average 80% of the load to the ground during the single support phase of walking. By measuring the rate of oxygen consumption on a study participant walking at a self-selected speed, we find that the exoskeleton slightly increases the walking metabolic cost of transport (COT) as compared to a standard loaded backpack (10% increase). However, a similar exoskeleton without joint springs or damping control (zero-impedance exoskeleton) is found to increase COT by 23% compared to the loaded backpack, highlighting the benefits of passive and quasi-passive joint mechanisms in the design of efficient, low-mass leg exoskeletons.Keywords
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